CN113138551B - Small combinable mobile robot and hybrid control method thereof - Google Patents
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Abstract
The invention belongs to the technical field of robots, and mainly relates to a small combinable mobile robot and a hybrid control method thereof, wherein the small combinable mobile robot comprises a power supply system, an industrial personal computer, an STM32 chassis system, a remote controller transceiver module, a direct-current brushless motor module, a wireless ad hoc network module, an auxiliary wheel landing gear steering engine module, a robot pitching steering engine module and a falling lock module, and a combinable mobile robot chassis consists of a remote controller module, a tracking differentiator module, a motor encoder module, a PID control module, a master-slave control module, an upper computer and a ROS node for chassis data analysis. According to the invention, the mobile robot can be combined, and flexible and diversified form adjustment and matching can be realized according to real-time topography conditions, so that the obstacle crossing capability of the wheeled robot is obviously improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a small combinable mobile robot and a hybrid control method thereof.
Background
The intelligent mobile robot is a comprehensive system integrating the functions of environment sensing, dynamic decision and planning, behavior control and execution and the like. The system integrates the research results of multiple disciplines such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of electromechanical integration, and is one of the most active fields of scientific and technological development at present. With the continuous perfection of the performance of the robot, the application range of the mobile robot is greatly expanded, so that the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as urban safety, national defense, space detection and the like. Therefore, mobile robotics have gained general attention in countries around the world.
According to the moving mode, the method can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged, and multi-legged), tracked mobile robots, crawling robots, peristaltic robots, and swimming robots; the method is classified according to working environments and can be divided into: indoor mobile robots and outdoor mobile robots; the control system structure can be divided into a functional (horizontal) structural robot, a behavioral (vertical) structural robot and a hybrid robot; the functions and the purposes can be divided into medical robots, military robots, disabled-aid robots, cleaning robots and the like.
The wheel type robot has the characteristics of quick and flexible movement and the like, and is widely applied, but the application value and the range of the wheel type robot are seriously influenced due to the insufficient obstacle crossing capability.
Disclosure of Invention
The purpose of the invention is that: aims to provide a small-sized combinable mobile robot and a hybrid control method thereof, which are used for solving the problem of insufficient obstacle crossing capability of a wheeled robot.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a small combinable mobile robot comprising: the system comprises a power supply system, an industrial personal computer, an STM32 chassis system, a remote controller receiving and transmitting module, a direct current brushless motor module, a wireless ad hoc network module, an auxiliary wheel landing gear steering engine module, a robot pitching steering engine module and a falling lock module.
Further, the combinable mobile robot chassis is composed of a remote controller module, a tracking differentiator module, a motor encoder module, a PID control module, a master-slave control module, an upper computer and ROS nodes for chassis data analysis.
Further, the remote controller module is composed of a transmitter and a receiver, and performs data processing by adopting a mode of receiving data by DMA interruption, and the data processing of the remote controller module is specifically realized as follows:
a1, when a person controls a remote controller deflector rod to transmit corresponding data, the transmitter is always in a state of transmitting signals at a certain frequency;
a2, after initializing a serial port, the STM32 chassis system starts a DMAR receiving function and receives signals sent by a transmitter at a certain frequency;
a3, the data received from the peripheral equipment is put into a memory through a DMA data receiving function, a serial port interrupt prompt is waited, and data processing is carried out;
and A4, clearing the DMA after the data processing is completed, and waiting for data entry again.
Further, the tracking differentiator is an improved tracking differentiator, and is specifically implemented as follows:
selecting proper transition process v according to different objects 1 (t) changing the error to e=v 1 (t) -y, let x 1 ＝v 1 ，
The input quantity is u, then:
the discrete implementation form is as follows:
wherein T is the sampling time;
let v 1 (t) corresponds to the input accuracy, and the fst function, i.e., the fast control of the optimal synthesis function, is used to make u=fst (x 1 -v,x 2 R, h), which is a nonlinear function, where v is the input signal, r is the velocity factor, and h is the filter factor;
let e=x 1 V, obtaining:
wherein d=r·h; d, d 0 ＝h·d；z＝e+h·x 2 ；
The improved tracking differentiator is as follows:
h is 0.001-0.1.
Further, the combinable mobile robot is provided with an upper computer mode, an independent remote control mode and a follow-up mode;
in the upper computer mode, the combinable mobile robot receives speed information issued by the upper computer;
in an independent remote control mode, the combinable mobile robot receives speed information of a remote controller;
in the follow-up mode, the slave combinable mobile robot receives speed information issued by the master combinable mobile robot.
Further, the remote controller module of the combinable mobile robot can cut into the master-slave control module, a plurality of combinable mobile robots are switched into one host machine and the rest are all slaves, the host machine can only enter an upper computer mode or an independent remote control mode, and the speed information of the host machine can be continuously released through the wireless ad hoc network module.
Further, the specific implementation of data transmission and reception of the master-slave control module is as follows:
b1, a master-slave control module sets a combinable mobile robot as a master machine and a slave machine, and performs master-slave switching through a remote controller module;
b2, the wireless data transmission module of the host computer sends the current state information to the slave computer;
and B3, the slave machine triggers the serial port interrupt at regular time, and the data sent by the host machine and received by the wireless data transmission module are analyzed through the interrupt service function and stored in the designated area so as to be sent to the motor by the slave machine master function.
Further, the combinable mobile robot chassis system is further provided with a feedback channel, and the feedback channel is composed of a motor encoder module and a median filter.
Further, the dc brushless motor module includes: the three-phase brushless DC motor speed regulator comprises a three-phase brushless DC motor, a motor speed regulator and a CAN bus module, wherein the rotating speed of the three-phase brushless DC motor is controlled in real time through a PID control module, and command control is realized through the CAN bus module.
The invention also relates to a combinable mobile robot obstacle crossing control method, which comprises the following steps:
when the combinable mobile robot faces an obstacle with a gradient or a gradient, judging the trafficability by taking the angle of attack of 45 degrees as a triggering condition;
the combinable mobile robot obtains obstacle parameter information through visual detection, and obtains an accurate face angle according to geometric parameters of wheels of the combinable mobile robot;
according to the angle of attack parameter information, the combinable mobile robot adjusts the robot structure through a robot pitching steering engine module;
and the real-time form combination of the master-slave combinable mobile robot is realized through the master-slave control module, so that obstacle surmounting is completed.
The invention adopting the technical scheme has the following advantages:
1. the combined mobile robot is small and flexible, is provided with a plurality of control modes, and can be switched in real time according to actual needs;
2. according to the invention, the combined mobile robot can realize flexible and diversified form adjustment and matching according to real-time topography conditions, so that the obstacle crossing capability of the wheeled robot is obviously improved;
3. the control method of the combinable mobile robot is simple, has high obstacle surmounting effectiveness, and is favorable for application and popularization of the combinable mobile robot.
Drawings
The invention can be further illustrated by means of non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic diagram of a two-wheel differential drive of a combinable mobile robot of the present invention;
FIG. 2 is a schematic diagram of the motion state of the combinable mobile robot of the present invention;
FIG. 3 is a diagram of a chassis system frame of a combinable mobile robot of the present invention;
FIG. 4 is a control flow diagram of a combinable mobile robot remote control module according to the present invention;
FIG. 5 is a control block diagram of a master-slave control module of the combinable mobile robot of the present invention;
FIG. 6 is a control flow chart of a master-slave control module of the combinable mobile robot of the invention;
FIG. 7 is a block diagram of a modular control architecture for a DC brushless motor for a combinable mobile robot in accordance with the present invention;
FIG. 8 is a flow chart of the position PID control of the combinable mobile robot of the present invention;
FIG. 9 is a schematic diagram of the obstacle surmounting process of the combinable mobile robot of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments, wherein like or similar parts are designated by the same reference numerals throughout the drawings or the description, and implementations not shown or described in the drawings are in a form well known to those of ordinary skill in the art. In addition, directional terms such as "upper", "lower", "top", "bottom", "left", "right", "front", "rear", etc. in the embodiments are merely directions with reference to the drawings, and are not intended to limit the scope of the present invention.
As shown in fig. 1-9, a small combinable mobile robot comprising: the system comprises a power supply system, an industrial personal computer, an STM32 chassis system, a remote controller receiving and transmitting module, a direct current brushless motor module, a wireless ad hoc network module, an auxiliary wheel landing gear steering engine module, a robot pitching steering engine module and a falling lock module.
The combinable mobile robot chassis consists of a remote controller module, a tracking differentiator module, a motor encoder module, a PID control module, a master-slave control module, an upper computer and ROS nodes for chassis data analysis.
Example 1: construction of combinable mobile robot motion model
As shown in figure 1, the combinable mobile robot is driven by two-wheel differential, the rotation of two isomorphic driving wheels at the back of the bottom of the combinable mobile robot provides power for the combinable mobile robot, the driven wheels at the front of the combinable mobile robot support the combinable mobile robot and do not push the combinable mobile robot to move, and the central speeds of the left driving wheel and the right driving wheel of the combinable mobile robot are defined as V respectively L ,V R . Ideally, the linear velocity of circular motion is the linear velocity of circular motion when the left wheel and the right wheel rotate. This value can be obtained by driving the angular velocity omega of the wheel rotation by means of a motor L , ω R And the radius r of the driving wheel, namely:
the midpoint of the connecting line between the centers of the two driving wheels is the base point C (X, y) of the machine, the instantaneous linear speed of the machine is V, the instantaneous angular speed omega and the attitude angle theta (namely the included angle between V and X axis). At this time, the machine pose information may use the vector p= [ x, y, θ] T And (3) representing. The instantaneous linear velocity of the robot V can be expressed as:
let the distance between the left wheel and the right wheel be D=2d, and the instantaneous rotation center of the machine be O c The radius of rotation is C to O c Is a distance R. The machine being coaxial (the axis being left-right wheel to O c Connecting line) circular motion, the angular velocity of the left wheel and the right wheel and the base point in the circular motion is the same omega L ＝ω R The radii to the center of rotation differ =ω, with:
the instantaneous angular speed ω of the machine can be expressed as:
two kinds of combined V R And V L And (5) calculating the rotation radius of the machine:
as shown in FIG. 2, the differential drive mode, i.e. V L And V R The speed difference relation between the two three different motion states is determined by the speed difference relation, when V L ＞V R When the machine moves in an arc manner; when V is L ＝V R When the machine moves linearly; when V is L ＝-V R When the machine rotates in place with the center points of the left wheel and the right wheel.
Through the above-described motion analysis, in the case where the driving wheel is in contact with the ground and the motion is pure rolling and no sliding, the kinematic model of the machine can be expressed as:
example 2: realization and switching of multi-mode control of combinable mobile robot
As shown in fig. 3, after the combinable mobile robots are cut into the master-slave control module by the remote controller, a plurality of combinable mobile robots can be switched into one master machine, and the rest are all slaves. The host can only enter an upper computer mode or an independent remote control mode, and can continuously release own speed information through the wireless ad hoc network module. The slave can be switched into the upper computer mode, the independent remote control mode or the follow-up mode by the corresponding remote controller. In the upper computer mode, the combinable mobile robot receives speed information issued by the upper computer; in an independent remote control mode, the combinable mobile robot receives speed information of a remote controller; in the follow-up mode, the slave combinable mobile robot receives speed information issued by the master combinable mobile robot. The speed signal of the remote controller is subjected to tracking differential processing because of burrs. After receiving the speed information, the motor enters a PID control module, and the output of the PID control module is sent to the motor. The feedback channel consists of a motor encoder and a median filter.
Example 3: control realization of combinable mobile robot remote control module
As shown in FIG. 4, A1, when a person controls a remote controller deflector rod to transmit corresponding data, the transmitter is always in a state of transmitting signals at a certain frequency; a2, after initializing a serial port, the STM32 chassis system starts a DMAR receiving function and receives signals sent by a transmitter at a certain frequency; a3, the data received from the peripheral equipment is put into a memory through a DMA data receiving function, a serial port interrupt prompt is waited, and data processing is carried out; and A4, clearing the DMA after the data processing is completed, and waiting for data entry again.
Example 4: improvements in tracking differentiators
Since the remote control signal may have many sharp burrs, a tracking differentiator is introduced herein in order to facilitate real-time tracking and filtering of high frequency noise by the actual system. In a typical control system, the error is directly expressed as e=v-y (v is the set point and y is the system output). In this case, the initial error tends to be large, and overshoot is liable to occur. Therefore, the proper transition process v can be selected according to the different objects 1 (t) changing the error to e=v 1 (t) -y, thus resolving the contradiction between rapidity and overshoot. The tracking differentiator is used for generating v 1 (t) and differential signals thereof
A kind of electronic device. Let x 1 ＝v 1 ，/>
Input deviceThe amount is u. Then it is possible to obtain:
the discrete implementation form is as follows:
where T is the sampling time.
To enable v 1 (t) as corresponding to the input as possible, using the fst function, i.e. fast control of the optimum synthesis function, to give u=fst (x 1 -v,x 2 R, h). This function is a nonlinear function, where v is the input signal, r is the velocity factor, and h is the filter factor. Let e=x 1 V, obtaining:
wherein d=r·h; d, d 0 ＝h·d；z＝e+h·x 2 ；
Thus, the form of the improved tracking differentiator is:
at this time, the larger r is, the faster the tracking speed is, but too large it overlaps the original signal. The smaller h is, the stronger the noise filtering effect is, and generally 0.001 to 0.1 is taken.
Example 5: control implementation of master-slave control module
As shown in fig. 5-6, the wireless data transmission of the master-slave control module is realized by a Mesh wireless ad hoc network data transmission module. The Mesh wireless ad hoc network module can form a communication module of a Mesh network in a radio frequency wireless connection mode. Any node in the network has a routing function and can automatically route, and the communication mode of the node conforms to a UART interface communication protocol.
The data transmission and receiving of the master-slave control module are specifically realized:
b1, a master-slave control module sets a combinable mobile robot as a master machine and a slave machine, and performs master-slave switching through a remote controller module;
b2, the wireless data transmission module of the host computer sends the current state information to the slave computer;
and B3, the slave machine triggers the serial port interrupt at regular time, and the data sent by the host machine and received by the wireless data transmission module are analyzed through the interrupt service function and stored in the designated area so as to be sent to the motor by the slave machine master function.
Example 6: control realization of combinable mobile robot motor and PID control module
As shown in fig. 7, the dc brushless motor module of the combinable mobile robot includes a three-phase dc brushless motor (including an encoder), a motor governor, and a CAN bus module. The motor speed is controlled by the output signal of the wheel speed PID controller of the control board. The motor module is controlled by a CAN bus command, a control board is communicated with a motor speed regulator by a CAN signal wire, and the motor speed regulator is connected with a motor, so that state information such as the position, the rotating speed and the temperature of a motor rotor CAN be read in real time.
As shown in fig. 8, the PID control model and flow are specifically: the wheel speed PID controller employs a positional PID algorithm whose output is related to the overall past state, using an accumulated value of error. The differential equation for the PID controller is:
wherein: e (t) -the deviation of a given value from a controlled variable;
K P -a scaling factor;
T I -an integration time constant;
T D -differential time constant;
t-the time interval elapsed from the start of the adjustment to the output of the current control quantity;
u 0 -input control signal to the actuator immediately before the PID regulation starts.
The transfer function of the PID controller obtained by respectively carrying out Laplace transformation on the two sides of the PID controller is as follows:
from the above formula:
proportional term: u (u) p (t)＝K p e(t)
The integral term:
differentiating terms:
the control calculation formula for discretizing the available position type PID control at the current sampling time output to the executor is as follows:
wherein: u (k) -the control variable output at the current sampling time;
t-sampling period;
u 0 -the input control signal to the actuator immediately before the PID regulation starts.
Example 9: stair climbing process demonstration of combinable mobile robot
As shown in fig. 9, the wheels of the combinable mobile robot 1 contact the vertical tread, the pitching mechanism lifts the front unit, and the combinable mobile robot adjusts the pitching mechanism to enable the wheels 1, 2 and 3 to be in a linear supporting state; the combined mobile robot 1 wheel goes upstairs, 2 wheels are suspended, 2 wheels start to contact with the vertical ladder surface, and 1, 2 and 3 wheels simultaneously contact with the horizontal ladder surface; 1. the wheels 2 finish climbing stairs, the wheels 3 contact the horizontal stair surface, and the wheels 3 start to contact the vertical stair surface, so that the stair climbing task is finished.
The invention provides a small combinable mobile robot and a hybrid control method thereof. The description of the specific embodiments is only intended to aid in understanding the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that the present invention may be modified and practiced with several improvements and modifications without departing from the spirit of the invention, and that the improvements and modifications are intended to be within the scope of the appended claims.
Claims (8)
1. A miniature combinable mobile robot, comprising: the system comprises a power supply system, an industrial personal computer, an STM32 chassis system, a remote controller transceiver module, a direct current brushless motor module, a wireless ad hoc network module, an auxiliary wheel landing gear steering engine module, a robot pitching steering engine module and a landing lock module, wherein a combinable mobile robot chassis consists of a remote controller module, a tracking differentiator module, a motor encoder module, a PID control module, a master-slave control module, an upper computer and a ROS node for chassis data analysis, the remote controller module consists of a transmitter and a receiver, and adopts a DMA interrupt data receiving mode to conduct data processing, and the data processing of the remote controller module is specifically realized as follows:
a1, when a person controls a remote controller deflector rod to transmit corresponding data, the transmitter is always in a state of transmitting signals at a certain frequency;
a2, after initializing a serial port, the STM32 chassis system starts a DMAR receiving function and receives signals sent by a transmitter at a certain frequency;
a3, the data received from the peripheral equipment is put into a memory through a DMA data receiving function, a serial port interrupt prompt is waited, and data processing is carried out;
a4, clearing the DMA after the data processing is completed, and waiting for the data to enter again;
wherein further comprising: construction of combinable mobile robot motion model
Defining the central speeds of the left driving wheel and the right driving wheel as V respectively L ,V R Angular velocity omega of rotation of wheel driven by motor L ,ω R And the driving wheel radius r:
the midpoint of the connecting line of the centers of the two driving wheels is the base point C (X, y) of the machine, the instantaneous linear speed of the combinable mobile robot is V, the instantaneous angular speed omega, the attitude angle theta is the included angle between V and X axis, and the pose information of the machine can be used as vectors P= [ X, y, theta] T Representing that the combinable mobile robot instantaneous linear velocity V can be represented as:
let the distance between the left wheel and the right wheel be D=2d, and the instantaneous rotation center of the combinable mobile robot be O c The radius of rotation is C to O c When the combined mobile robot makes coaxial circular motion, the angular velocity of the left wheel, the right wheel and the base point in the circular motion is the same omega L ＝ω R The radii to the center of rotation differ =ω, with:
the instantaneous angular velocity ω of the combinable mobile robot can be expressed as:
two kinds of combined V R And V L Solving the rotation radius of the combinable mobile robot:
differential drive, i.e. V L And V R The speed difference relation between the two three different motion states is determined by the speed difference relation, when V L ＞V R When the combined mobile robot moves in an arc manner; when V is L ＝V R When the combined mobile robot moves linearly; when V is L ＝-V R When the combined mobile robot rotates in situ by the center points of the left wheel and the right wheel; through the motion analysis, in the case that the contact motion of the driving wheel and the ground is pure rolling and no sliding, the kinematic model of the combinable mobile robot can be expressed as:
the PID control model and the flow are specifically as follows: the wheel speed PID controller adopts a position type PID algorithm, the output of the PID algorithm is related to the whole past state, the accumulated value of errors is used, and the differential equation of the PID controller is as follows:
wherein: e (t) -the deviation of a given value from a controlled variable;
K P -a scaling factor;
T I -an integration time constant;
T D -differential time constant;
t-the time interval elapsed from the start of the adjustment to the output of the current control quantity;
u 0 -an input control signal to the actuator immediately before the PID adjustment starts;
the transfer function of the PID controller obtained by respectively carrying out Laplace transformation on the two sides of the PID controller is as follows:
from the above formula:
proportional term: u (u) p (t)＝K p e(t)
The integral term:
differentiating terms:
the control calculation formula for discretizing the available position type PID control at the current sampling time output to the executor is as follows:
wherein: u (k) -the control variable output at the current sampling time;
t-sampling period;
u 0 -the input control signal to the actuator immediately before the PID regulation starts.
2. The miniature combinable mobile robot of claim 1, wherein the tracking differentiator is an improved tracking differentiator, and is implemented as follows:
selecting proper transition process v according to different objects 1 (t) changing the error to e=v 1 (t) -y, let x 1 ＝v 1 ，
The input quantity is u, then:
the discrete implementation form is as follows:
wherein T is the sampling time;
let v 1 (t) corresponds to the input accuracy, and the fst function, i.e., the fast control of the optimal synthesis function, is used to make u=fst (x 1 -v,x 2 R, h), which is a nonlinear function, where v is the input signal, r is the velocity factor, and h is the filter factor;
let e=x 1 V, obtaining:
wherein d=r·h; d, d 0 ＝h·d；z＝e+h·x 2 ；
The improved tracking differentiator is as follows:
h is 0.001-0.1.
3. The miniature combinable mobile robot of claim 1, wherein the combinable mobile robot is provided with a host computer mode, an independent remote control mode, a follow-up mode;
in the upper computer mode, the combinable mobile robot receives speed information issued by the upper computer;
in an independent remote control mode, the combinable mobile robot receives speed information of a remote controller;
in the follow-up mode, the slave combinable mobile robot receives speed information issued by the master combinable mobile robot.
4. A combinable mobile robot according to claim 3, wherein the remote controller module of the combinable mobile robot can switch into the master-slave control module, switch the combinable mobile robots into one host and the rest all slave, the host can only enter the upper computer mode or the independent remote control mode, and continuously issue own speed information through the wireless ad hoc network module.
5. The miniature combinable mobile robot of claim 4, wherein the data transmission and reception of the master-slave control module is implemented as follows:
b1, a master-slave control module sets a combinable mobile robot as a master machine and a slave machine, and performs master-slave switching through a remote controller module;
b2, the wireless data transmission module of the host computer sends the current state information to the slave computer;
and B3, the slave machine triggers the serial port interrupt at regular time, and the data sent by the host machine and received by the wireless data transmission module are analyzed through the interrupt service function and stored in the designated area so as to be sent to the motor by the slave machine master function.
6. A miniature combinable mobile robot according to claim 1, characterized in that the combinable mobile robot chassis system is further provided with a feedback channel, which is composed of a motor encoder module and a median filter.
7. The miniature combinable mobile robot of claim 1, wherein the dc brushless motor module comprises: the three-phase brushless DC motor speed regulator comprises a three-phase brushless DC motor, a motor speed regulator and a CAN bus module, wherein the rotating speed of the three-phase brushless DC motor is controlled in real time through a PID control module, and command control is realized through the CAN bus module.
8. The small-sized combinable mobile robot of claim 1, further comprising a obstacle crossing control method of the small-sized combinable mobile robot:
when the combinable mobile robot faces an obstacle with a gradient or a gradient, judging the trafficability by taking the angle of attack of 45 degrees as a triggering condition;
the combinable mobile robot obtains obstacle parameter information through visual detection, and obtains an accurate face angle according to geometric parameters of wheels of the combinable mobile robot;
according to the angle of attack parameter information, the combinable mobile robot adjusts the robot structure through a robot pitching steering engine module;
and the real-time form combination of the master-slave combinable mobile robot is realized through the master-slave control module, so that obstacle surmounting is completed.
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| CN202110234675.2A CN113138551B (en) | 2021-03-03 | 2021-03-03 | Small combinable mobile robot and hybrid control method thereof |
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| US11117743B2 (en) * | 2017-09-28 | 2021-09-14 | Symbotic Llc | Storage and retrieval system |
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